Author： Laventall Katie Cortes Jorge
Publisher： Taylor & Francis Ltd
ISSN： 1366-5820
Source： International Journal of Control, Vol.82, Iss.6, 2009-06, pp. : 1113-1121
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Abstract
This article considers the deployment of a network of robotic agents with limited-range communication and anisotropic sensing capabilities. We encode the environment coverage provided by the network by means of an expected-value objective function. This function has a gradient which is not amenable to distributed computation. We provide a constant-factor approximation of this measure via an alternative aggregate objective function, whose gradient is spatially distributed over the limited-range Delaunay proximity graph. We characterise the smoothness properties of the aggregate expected-value function and propose a distributed deployment algorithm that enables the network to optimise it. Simulations illustrate the results.
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